WO2020210904A1 - Appareil monté sur câble à déplacement indépendant - Google Patents

Appareil monté sur câble à déplacement indépendant Download PDF

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Publication number
WO2020210904A1
WO2020210904A1 PCT/CA2020/050502 CA2020050502W WO2020210904A1 WO 2020210904 A1 WO2020210904 A1 WO 2020210904A1 CA 2020050502 W CA2020050502 W CA 2020050502W WO 2020210904 A1 WO2020210904 A1 WO 2020210904A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
thrusters
winch
aircraft
target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CA2020/050502
Other languages
English (en)
Inventor
Moritz ARNS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2020210904A1 publication Critical patent/WO2020210904A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/22—Taking-up articles from earth's surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
    • B64U2101/66—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval for retrieving parcels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/67—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the following relates generally to cable structures and, more specifically, to an independently-moveable cable-mounted apparatus.
  • aircraft may be required to interact with their environment, outside of the aircraft, during flight.
  • the craft may need to drop off or retrieve cargo mid-flight without having to land.
  • tools such as grippers or manipulators, are used to interact with the environment when located at a distal end of a deployed cable (wire, tether, chain, etc.).
  • a cable-mounted apparatus a proximal end of the cable mounted to a winch to extend and retract the cable, the apparatus comprising: a manipulator coupled to the distal end of the cable; one or more thrusters; and a controller to control actuation of the one or more thrusters to provide independent movement of the apparatus relative to the winch.
  • FIGS. 1A and 1 B are a diagrammatic view of an approach to manipulation during mid flight;
  • FIG. 2 is a diagrammatic view of another approach to manipulation during mid-flight;
  • FIGS. 3A and 3B are a diagrammatic view of an apparatus, according to an
  • FIGS. 4A and 4B are a diagrammatic view of the apparatus of FIGS. 3A and 3B illustrating a retrieval of the item using the aircraft.
  • FIG. 5 is a perspective view of the apparatus of FIGS. 3A and 3B.
  • Any module, unit, component, server, computer, terminal, engine or device exemplified herein that executes instructions may include or otherwise have access to computer readable media such as storage media, computer storage media, or data storage devices (removable and/or non-removable) such as, for example, magnetic disks, optical disks, or tape.
  • Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include RAM, ROM, EEPROM, flash memory or other memory technology, CD- ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by an application, module, or both. Any such computer storage media may be part of the device or accessible or connectable thereto.
  • any processor or controller set out herein may be implemented as a singular processor or as a plurality of processors. The plurality of processors may be arrayed or distributed, and any processing function referred to herein may be carried out by one or by a plurality of processors, even though a single processor may be exemplified. Any method, application or module herein described may be implemented using computer readable/executable instructions that may be stored or otherwise held by such computer readable media and executed by the one or more processors.
  • an apparatus that is connected to an aircraft for manipulation of a tool mid-flight, providing better control during deployment.
  • the apparatus is independently-moveable such that the apparatus can make adjustments and movements of the tool without necessarily requiring movement of the aircraft.
  • the aircraft could be an airplane, drone, rotorcraft or other similar device, and is preferable a drone or rotorcraft operable to perform a hovering operation, even if the hovering operation is not entirely precise.
  • FIGS. 1A and 1 B illustrate an example embodiment 30 of an approach to manipulation during mid-flight.
  • a cable 52 is deployed and suspended below an aircraft 20 via a winch 54 at the proximal end of the cable 52.
  • an item 60 attached to the cable 52.
  • the winch 54 releases the cable to attempt to have the item 60 land at or near the target 70.
  • FIG. 2 illustrates an example embodiment 50 of another approach to manipulation during mid-flight.
  • a cable 52 is deployed and suspended below the aircraft 20 via a winch 54 at the proximal end of the cable 52.
  • a gripper tool 56 is deployed and suspended below the aircraft 20 via a winch 54 at the proximal end of the cable 52.
  • the gripper tool 56 attempts to release the item 60 at or near a target 70.
  • FIGS. 3A to 5 illustrate a deployable independently-moveable apparatus 100 for aircraft, according to an embodiment.
  • a cable 52 is deployed and suspended below the aircraft 20 via a winch 54 at the proximal end of the cable 52.
  • the winch 54 is located on or in the aircraft 20.
  • Connected at the distal end of the cable 52 is the apparatus 100.
  • the apparatus 100 includes a manipulator 102 and one or more thrusters 104.
  • the manipulator 102 can be any suitable tool to interact with objects or aspects of the environment.
  • the manipulator 102 is a gripper tool that can grip and release the item 60.
  • the thrusters 104 advantageously allow for independent movement of the apparatus 100.
  • the thrusters 104 are a plurality of air thrusters or propellers.
  • the thrusters 104 can be embodied as a secondary rotorcraft with enough thrust to effect relative planar (parallel to the ground) movement of the distal end of the cable relative the aircraft to provide targeting.
  • the plane parallel to the ground can be considered the XY plane and that movement of the distal end will cause a pendulum movement of the cable, which has a Z component.
  • thrust in the XY plane toward the target would also lift the distal end of the cable along the Z axis away from the target. This movement may be compensated by the winch further extending the cable to reach the target.
  • FIGS. 3A and 3B illustrates an example of a delivery of the item 60 to the target 70 using the apparatus 100.
  • large scale movements are achieved by the aircraft 20 to get the item 60 near the target 70.
  • the winch 54 extends the cable; lowering the apparatus 100 as the manipulator 102 grips the item 60.
  • the one or more thrusters 104 provide independent movement along the plane parallel to the ground by adjustment of the thrusting force of the respective thrusters 104. This movement can be automatically controlled by a controller 180 or can be manually controlled via the controller 180.
  • the controller 180 can include one or more processors and a data storage. Automatic control or manual control can be aided by including telemetric sensors such as position sensors, accelerometers and gyroscopes within the controller 180 so that the controller 180 can react to changes in position and orientation of the apparatus 100. [0022] These movements can be similar in nature to steering of a drone or rotorcraft. In this way, adjustment along the plane parallel to the ground allows the apparatus 100 to accurately place the item 60 at the target 70, as shown in FIG. 3B. In further cases, the thrusters 104 can also move along an axis perpendicular to the ground; for example, to place the package at a target 70 with a specific elevation. When the item 60 arrives at the target 70, the manipulator 102 can release the item 60 for delivery.
  • telemetric sensors such as position sensors, accelerometers and gyroscopes
  • FIGS. 4A and 4B illustrate an example of a retrieval of the item 60 from the target 70 using the apparatus 100.
  • large scale movements are achieved by the aircraft 20 to get the apparatus 100 near the target 70.
  • the winch 54 extends the cable; lowering the apparatus 100 to the height of the item 60.
  • the one or more thrusters 104 provide independent movement along the plane parallel to the ground by adjustment of the thrusting force of the respective thrusters 104. This movement can be automatically controlled by a controller 180 or can be manually controlled via the controller 180. These movements can be similar in nature to steering of a drone or rotorcraft.
  • the apparatus 100 to accurately pick up and grasp the item 60 located at the target 70.
  • the manipulator 102 of the apparatus 100 arrives at the item 60, the manipulator 102 grasps the item 60.
  • the winch 54 can then retract the cable 52, bringing the item 60 to, or into, the aircraft.
  • the thrusters 104 can also move along an axis perpendicular to the ground; for example, to grasp the package at a target 70 with a specific elevation; however, in most cases, the lifting force for retrieving the item 60 is provided by the winch 54.
  • the apparatus 100 can include four horizontally-oriented air thrusters 104 located inside a housing 106. Attached to the bottom of the housing is the manipulator 102, in this case, a gripper. Attached to the top of the housing is the distal end of the cable 52. The actuation of the thrusters 104 and the manipulator is controlled by the controller 180.
  • the apparatus 100 may also include sensors, such as a camera system, attached to the housing 106.
  • the sensors can be used for various suitable tasks; for example, identifying the target, identifying the height of the target, identifying the distance to the target, identifying the item, identifying the shape of the item, or the like.
  • the information can be fed back to the controller 180 to control the thrusters 104 of the apparatus 100 or to provide information to a manual operator of the apparatus 100.
  • the apparatus 100 can be fed power from the aircraft via the cable 52.
  • the apparatus 100 can include a battery to power the thrusters 104 and the manipulator 102.
  • the battery can be recharged when the apparatus 100 is at the aircraft during retraction of the cable 52.
  • manipulator 102 can include a grabber, magnet, hook, suction gripper, a winch, a welder, a container with an openable floor, or the like.
  • the manipulator 102 may also be in communication with the controller 180 such that the controller 180 can instruct actuation of the manipulator 102; for example, opening and closing of the gripper, or winding and unwinding of the winch.
  • manipulation of the manipulator 102 allows the apparatus 100 to accomplish a variety of useful tasks, such as moving items around a warehouse, delivering items to a residence, detailed retrieval at typically inacceptable locations, or the like.
  • the apparatus 100 can be used to paint or conduct inspections of various kinds; for example, using ultrasonic sensors as the manipulator 102.
  • the manipulator 102 can include a further assembly for finer movements; for example, a three- degrees-of-freedom“delta robot” positioned underneath the housing 106.
  • thrusters 104 any suitable thruster can be used.
  • Other examples of thrusters 104 can include thrusting turbines, jet thrusters, heated gas thrusters, or the like.
  • the thrusters 104 are suitable if they provide enough thrust to be able to provide precision and accuracy of moving the distal end of the cable, given the weight and geometry of the cable, the apparatus, and the item (if there).
  • the present embodiments illustrate the apparatus 100 having thrusters 104 in a horizontally-oriented dual or quad-copter orientation, it is understood that any suitable orientation can be used; for example, vertically or angled- oriented thrusters, or having more or less thrusters than exemplified.
  • the apparatus 100 of the present embodiments provides substantial advantages to manipulators deployed from aircraft. There is generally minimum extra weight added due to the apparatus as the manipulator and thrusters can be, for example, less than 300g.
  • the apparatus 100 allows for pickup and drop off from any suitable height. In these embodiments, in contrast to a pure drone package retrieval system, there are no significant weight limitations since the winch lifts up the package to a large aircraft.
  • the present embodiments are generally safe because the apparatus is small and the housing can cage the thrusters.
  • the present embodiments allow for precise pickup and drop off of items; and precise use of manipulators more generally.
  • the present embodiments also allow for the reuse of the cable.
  • the apparatus 100 of the present embodiments can be used for any application in which the winch is located substantially above a desired target. For example, at a distal end of a cable line from a crane to the ground, at a distal end of a cable line from a roof of a building to the ground, or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil monté sur câble, une extrémité proximale du câble étant montée sur un treuil pour étendre et rétracter le câble, l'appareil comprenant : un boîtier relié à une extrémité distale du câble ; un manipulateur situé sous le boîtier ; un ou plusieurs propulseurs associés au boîtier ; et un dispositif de commande pour commander l'actionnement du ou des propulseurs pour fournir un mouvement indépendant de l'appareil par rapport au treuil.
PCT/CA2020/050502 2019-04-16 2020-04-15 Appareil monté sur câble à déplacement indépendant Ceased WO2020210904A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962834439P 2019-04-16 2019-04-16
US62/834,439 2019-04-16

Publications (1)

Publication Number Publication Date
WO2020210904A1 true WO2020210904A1 (fr) 2020-10-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2020/050502 Ceased WO2020210904A1 (fr) 2019-04-16 2020-04-15 Appareil monté sur câble à déplacement indépendant

Country Status (2)

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CA (1) CA3065366A1 (fr)
WO (1) WO2020210904A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022119913A1 (fr) 2020-12-02 2022-06-09 Zipline International Inc. Véhicule dépendant orientable pour véhicules aériens sans pilote
WO2022182803A1 (fr) 2021-02-24 2022-09-01 Zipline International Inc. Système de livraison par véhicules autonomes
US20230303249A1 (en) * 2022-03-23 2023-09-28 Aaron ZHANG Aircraft Cargo Loading/Unloading Device

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2736600A (en) * 1952-09-23 1956-02-28 Arthur J Carlson Crane hook with reaction jet orienting means
US3498476A (en) * 1966-06-21 1970-03-03 Anderson Byggnads Ab Device for adjusting the position of a rotatably suspended object,especially a load suspended in a crane
JPH0254258B2 (fr) * 1983-12-30 1990-11-21 Hitachi Ltd
JPH09309687A (ja) * 1996-05-17 1997-12-02 Daiwa:Kk 懸垂物の方向安定装置
WO2018090104A1 (fr) * 2016-11-21 2018-05-24 Tensa Equipment Pty Ltd Appareil de commande d'orientation de charges suspendues
JP2018140860A (ja) * 2017-02-28 2018-09-13 エアロファシリティー株式会社 吊上物姿勢安定装置
JP2019085104A (ja) * 2017-11-06 2019-06-06 株式会社エアロネクスト 飛行体及び飛行体の制御方法
US20200115052A1 (en) * 2018-10-16 2020-04-16 Bell Helicopter Textron Inc. System and method for deployment and retrieval of parasite aircraft

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2736600A (en) * 1952-09-23 1956-02-28 Arthur J Carlson Crane hook with reaction jet orienting means
US3498476A (en) * 1966-06-21 1970-03-03 Anderson Byggnads Ab Device for adjusting the position of a rotatably suspended object,especially a load suspended in a crane
JPH0254258B2 (fr) * 1983-12-30 1990-11-21 Hitachi Ltd
JPH09309687A (ja) * 1996-05-17 1997-12-02 Daiwa:Kk 懸垂物の方向安定装置
WO2018090104A1 (fr) * 2016-11-21 2018-05-24 Tensa Equipment Pty Ltd Appareil de commande d'orientation de charges suspendues
JP2018140860A (ja) * 2017-02-28 2018-09-13 エアロファシリティー株式会社 吊上物姿勢安定装置
JP2019085104A (ja) * 2017-11-06 2019-06-06 株式会社エアロネクスト 飛行体及び飛行体の制御方法
US20200115052A1 (en) * 2018-10-16 2020-04-16 Bell Helicopter Textron Inc. System and method for deployment and retrieval of parasite aircraft

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022119913A1 (fr) 2020-12-02 2022-06-09 Zipline International Inc. Véhicule dépendant orientable pour véhicules aériens sans pilote
EP4255804A4 (fr) * 2020-12-02 2024-12-25 Zipline International Inc. Véhicule dépendant orientable pour véhicules aériens sans pilote
US12304670B2 (en) 2020-12-02 2025-05-20 Zipline International Inc. Systems for unmanned aerial vehicle docking, storage, and loading
US12589898B2 (en) 2020-12-02 2026-03-31 Zipline International Inc. Steerable dependent vehicle for unmanned aerial vehicles
WO2022182803A1 (fr) 2021-02-24 2022-09-01 Zipline International Inc. Système de livraison par véhicules autonomes
EP4298018A4 (fr) * 2021-02-24 2025-03-12 Zipline International Inc. Système de livraison par véhicules autonomes
US20230303249A1 (en) * 2022-03-23 2023-09-28 Aaron ZHANG Aircraft Cargo Loading/Unloading Device

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